Incremental geometric robot motion planning

In this thesis we introduce the notion of incremental problems in geometric robot motion planning, and give incremental algorithms to solve these problems efficiently. In particular, we present incremental algorithms to compute an exact cell decomposition of the collision-free portion of the robot configuration space for a line segment robot moving freely in the plane amidst polygonal obstacles. After computing an initial decomposition of the collision-free portion of the robot configuration space, these algorithms maintain that decomposition as obstacles are moved between planning problems.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Computer Science

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2011

Author dc:creator

• Barbehenn, Michael Tracy

Contributors dc:contributor

• Hutchinson, Seth A.

• Computer Science

Statement dc:rights

• Copyright 1996 Barbehenn, Michael Tracy

Language dc:language

eng

Identifier

AAI9625112
(UMI)AAI9625112

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/20748